| { | |
| "robot": "Panthera-HT (HighTorque) 6-DoF + parallel gripper", | |
| "scene": "sim/panthera/scene.xml", | |
| "control_mode": "keyboard", | |
| "track_rotation": true, | |
| "recording": { | |
| "trigger": "keyboard_or_mouse_motion", | |
| "max_duration_s": 60.0 | |
| }, | |
| "speed_m_s": 0.18, | |
| "rot_speed_rad_s": 1.2, | |
| "look_mode": "minecraft", | |
| "look_sens_deg_px": 0.15, | |
| "yaw_limit_deg": 59.99999999999999, | |
| "arm_joints": [ | |
| "joint1", | |
| "joint2", | |
| "joint3", | |
| "joint4", | |
| "joint5", | |
| "joint6" | |
| ], | |
| "gripper_open_m": 0.04, | |
| "arm_start_range_m": [ | |
| 0.3, | |
| 0.48, | |
| -0.16, | |
| 0.16, | |
| 0.1, | |
| 0.4 | |
| ], | |
| "objects": [ | |
| "cube_red", | |
| "cube_green", | |
| "cube_blue" | |
| ], | |
| "region": [ | |
| [ | |
| 0.1, | |
| -0.4, | |
| 0.01 | |
| ], | |
| [ | |
| 0.7, | |
| 0.4, | |
| 0.55 | |
| ] | |
| ], | |
| "view": "grid", | |
| "frames": { | |
| "ee_*/target_*": "robot base frame", | |
| "quat": "(w, x, y, z)" | |
| }, | |
| "created": "2026-09-20 10:08:22", | |
| "n_steps": 341, | |
| "duration_s": 8.980536460876465, | |
| "fps_actual": 37.971005572502264, | |
| "fields": { | |
| "t": [], | |
| "q": [ | |
| 6 | |
| ], | |
| "dq": [ | |
| 6 | |
| ], | |
| "ctrl": [ | |
| 7 | |
| ], | |
| "ee_pos": [ | |
| 3 | |
| ], | |
| "ee_quat": [ | |
| 4 | |
| ], | |
| "obj_pos": [ | |
| 3, | |
| 3 | |
| ], | |
| "obj_quat": [ | |
| 3, | |
| 4 | |
| ], | |
| "target_pos": [ | |
| 3 | |
| ], | |
| "target_quat": [ | |
| 4 | |
| ], | |
| "gripper": [], | |
| "ik_pos_err": [], | |
| "ik_rot_err": [] | |
| } | |
| } | |